dc.citation.endPage |
297 |
- |
dc.citation.number |
4 |
- |
dc.citation.startPage |
287 |
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dc.citation.title |
ROBOTICA |
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dc.citation.volume |
12 |
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dc.contributor.author |
SUH, SH |
- |
dc.contributor.author |
KANG, JK |
- |
dc.contributor.author |
JEE, WS |
- |
dc.contributor.author |
Jung, Mooyoung |
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dc.contributor.author |
KIM, KS |
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dc.date.accessioned |
2023-12-22T13:05:50Z |
- |
dc.date.available |
2023-12-22T13:05:50Z |
- |
dc.date.created |
2014-09-04 |
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dc.date.issued |
1994-07 |
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dc.description.abstract |
Position estimation is a key issue for an ALV (Autonomous Land Vehicle) in navigating a mountainous area. The unevenness of the terrain makes mechanical velocity sensors inaccurate (due to wheel slippage), and the lack of appropriate landmarks complicates the problem. In this paper, we present a solution method using features of the skyline. The skyline from the vision system is assumed given, and compared with a computer map, called the CAD-MAP. The algorithm is composed of: a) Identification of the peak points in the camera skyline, b) Computing the ALV position for the identified peak points, and c) Searching for the corresponding peak point in the CAD-MAP. Heuristics for computational efficiency and solution accuracy are also included in the algorithm. To test the validity and effectiveness of the algorithm, numerous simulations were performed and analyzed. |
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dc.identifier.bibliographicCitation |
ROBOTICA, v.12, no.4, pp.287 - 297 |
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dc.identifier.issn |
0263-5747 |
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dc.identifier.scopusid |
2-s2.0-0028466967 |
- |
dc.identifier.uri |
https://scholarworks.unist.ac.kr/handle/201301/5933 |
- |
dc.identifier.url |
http://www.scopus.com/inward/record.url?partnerID=HzOxMe3b&scp=0028466967 |
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dc.identifier.wosid |
A1994NX43100001 |
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dc.language |
영어 |
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dc.publisher |
CAMBRIDGE UNIV PRESS |
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dc.title |
CAD-MAP AND ESTIMATION OF ALV POSITIONS IN MOUNTAINOUS AREAS |
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dc.type |
Article |
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dc.description.isOpenAccess |
FALSE |
- |
dc.description.journalRegisteredClass |
scie |
- |
dc.description.journalRegisteredClass |
scopus |
- |